#ifndef PID_H
#define PID_H

#include <stdint.h>
#include <stdbool.h>

typedef struct
{
  int32_t e;
  int32_t kp,ki,kd;
  int32_t fb,target,cout;
  int32_t po_,io_,do_;
  int32_t max_cout;
} pid_t;

int32_t pid_up(pid_t *pid,int32_t target,int32_t fb);

#endif 
